These numbers give you more control authority.
// YAW rate PID
#define DEFAULT_CTRL_YAW_RTE_P 300.0f
#define DEFAULT_CTRL_YAW_RTE_I 0.15f
#define DEFAULT_CTRL_YAW_RTE_D 50.0f
#define DEFAULT_CTRL_YAW_RTE_F 0.25f
#define DEFAULT_CTRL_YAW_RTE_PM 150.0f
#define DEFAULT_CTRL_YAW_RTE_IM 150.0f
#define DEFAULT_CTRL_YAW_RTE_DM 150.0f
#define DEFAULT_CTRL_YAW_RTE_OM 300.0f
// YAW angle PID
#define DEFAULT_CTRL_YAW_ANG_P 0.05f
#define DEFAULT_CTRL_YAW_ANG_I 0.0004f
#define DEFAULT_CTRL_YAW_ANG_D 0.0f
#define DEFAULT_CTRL_YAW_ANG_F 0.0f
#define DEFAULT_CTRL_YAW_ANG_PM 2.0f
#define DEFAULT_CTRL_YAW_ANG_IM 0.04f
#define DEFAULT_CTRL_YAW_ANG_DM 0.0f
#define DEFAULT_CTRL_YAW_ANG_OM 2.0f